EP3699357B1 - Work train comprising a self-propelled soil working machine and at least one other self-propelled vehicle, with an automated distance monitoring - Google Patents

Description

The present invention relates to a work train, comprising a self-propelled soil cultivation machine as a first vehicle and at least one further self-propelled vehicle, the vehicles of the work train being designed to move one after the other with a target distance located in a predetermined target distance value range during normal operation to move a common working direction, the work train having a distance monitoring device which, in accordance with a detection state of the distance monitoring device that is dependent on an actual actual distance of the vehicles, outputs a distance signal containing information about the vehicle distance, the distance monitoring device being a radiation source emitting electromagnetic radiation and has a sensor arrangement that is sensitive to the electromagnetic radiation of the radiation source, a vehicle comprising the first and the further vehicle g carries the radiation source as the source vehicle, with the radiation source in the direction of the other vehicle from the first when the work train is in a predetermined reference state, i.e. on a flat horizontal surface with vehicles ready for operation at a predetermined reference distance from one another and the further vehicle as a target vehicle emits electromagnetic radiation in a directed manner in such a way that the electromagnetic radiation for distance monitoring is only present in a radiation space which extends over a first angular range around a first radiation space axis and over a second angular range around an angle with the first radiation space axis enclosing second radiation space axis, wherein the second angular range is equal in magnitude to or is greater than the first angular range and wherein the radiation space with respect to the working direction about the first radiation space axis ge tends is.

Such a work train is from the US 2018/0142427 A1 , especially from their Figure 6 famous. The soil cultivation machine is a road paver, hereinafter also referred to as a "paver" for short. The other vehicle is a feeder that loads the paver with asphalt while it is in operation.

An LED light source is arranged on the known feeder, which emits light to the paver in a vertically narrow beam space which does not exceed an opening angle of 6 ° and which extends horizontally approximately over the width of the paver.

Light from the LED light source reflected by the paver is detected by a sensor arrangement on the feeder. From the transit time of the light from the LED source to the paver and back to the sensor arrangement, the amount of the distance between the feeder and the paver is calculated and a distance signal containing this distance information is output to the feeder to support the movement control of the work train.

The disadvantage of this work train is, on the one hand, the great effort that has to be made to measure the distance. A surface on the feeder that is as orthogonal and even as possible to the direction of the distance between the paver and the feeder must be irradiated, because protruding and recessed structures as well as differently inclined surface areas on the irradiated area of the paver can cause unwanted signal interference or "noisy" the reflected light required to determine the transit time.

On the other hand, in order to determine the transit times of the light, complex modulated light must be emitted by the known LED light source so that transit times can be recognized at all.

Particularly in a construction site environment with a heavy load of dirt with additional thermal loads, including alternating loads, the vehicles involved in the work train are therefore less complex and therefore more robust, but at least as a result accurate solution for distance monitoring of the vehicles of the work train desirable.

It is therefore the object of the present invention to further develop a work train of the type mentioned at the outset in such a way that the distance to be maintained between its vehicles can be monitored using simple, trouble-free means. It should still be possible to maintain the distance without mechanical-physical coupling of the vehicles.

This object is achieved by the present invention with a work train as described at the beginning of the present application, in which the sensor arrangement also extends along a sensor axis and is arranged on the target vehicle to be carried along by it, with a predetermined one - when viewing the work train in the reference state sensor-axial reference detection area on the sensor arrangement is irradiated by the radiation source, and wherein the sensor axis is inclined relative to a straight line connecting the detection area and the radiation source about a tilt axis parallel to the first radiation area axis, that is, non-parallel, so that a change in the vehicle distance to a Change in position of the detection area irradiated by the radiation source on the sensor arrangement along the sensor axis and thus leads to a change in the detection state of the sensor arrangement. The sensor axis can, but does not have to, be inclined about a further axis.

The detection of the electromagnetic radiation emitted by the radiation source by the sensor arrangement is preferably carried out in the direct beam path, ie without prior reflection on a vehicle surface. Due to the specified inclinations of both the radiation room and the sensor arrangement located at least in sections in the radiation room in the reference state, a change in the distance between the vehicles of the work train starting from the reference distance or from any other starting distance leads to a longitudinal displacement of the detection area of the sensor arrangement irradiated by the radiation source their sensor axis. This change is direction-sensitive, ie it takes place starting from an initially irradiated detection area with a shortening of the Vehicle distance on the sensor arrangement always in the same direction and, when the vehicle distance is increased, in always the same opposite direction.

In the case of a work train that has been set up once, in which the radiation source in the reference state irradiates a predetermined detection area of the sensor arrangement, while a dark area of the sensor arrangement located axially on the sensor axis on at least one side of the irradiated detection area is not irradiated, the distance monitoring can - and preferably is - the distance monitoring without calculating the amount Distance can be carried out solely on the basis of the position of the irradiated detection area on the sensor arrangement relative to a reference position.

"Sensoraxial" is used to express that the adjective "axial" refers to the sensor axis. It is synonymous with "along the sensor axis".

In the reference state, there is preferably a dark area of the sensor arrangement on both sides of the irradiated detection area, so that when the distance changes from the reference distance in both directions, the detection area can irradiate a previously non-irradiated area of the sensor arrangement and preferably no longer irradiate a previously irradiated area. In the reference state, the sensor arrangement therefore preferably completely penetrates the radiation space and protrudes out of it on both sides in the penetration direction, that is to say along its sensor axis.

Furthermore, the sensor arrangement can have a plurality of sensor elements sensitive to the electromagnetic radiation of the radiation source one after the other, so that, depending on the sensor-axial position of the detection area, different sensor elements are irradiated with the electromagnetic radiation of the radiation source or are not irradiated if they are in the dark area of the respective detection status.

The reference distance is preferably in the setpoint distance value range, particularly preferably at a distance, preferably at the same distance, from the two edges of the setpoint distance value range.

For the measurement of the distance, it is basically irrelevant which reference points on the two vehicles of the work train are used to determine the distance, as long as this is always determined for a given work train using the same reference points.

The working direction is thus also the distance direction, at least when driving straight ahead together. If the two vehicles of the work train move locally in different spatial directions, for example because of cornering or because of driving over a hilltop or driving through a hollow, the working direction is the shortest connection between the reference points for determining the distance when driving straight ahead. The two reference points are at the same height above the ground on which the two vehicles of the work train move, so that the working direction in a reference state in which the work train is standing on a flat surface with a predetermined reference distance runs parallel to the contact plane of the ground .

Since the ground on which the work train stands can be worked on by at least the first vehicle, there can be more than one contact level along the work train. This is all the more true as the other vehicle can also be a tillage machine. In case of doubt, the subsurface and the contact area defined by it, if the subsoil or its contact area serve as a reference variable, is the subsoil located between the vehicles in the working direction or the surface defined by it.

In principle, the distance monitoring described above already works with a single radiation source on the source vehicle and with a single sensor arrangement on the target vehicle of the work train. More precise and more meaningful information about the distance between the vehicles of the work train can, however, be obtained if the target vehicle is at least two each having sensor arrangements extending along a sensor axis. In this case, each sensor axis of a sensor arrangement - when viewing the work train in the reference state - is inclined relative to a straight line connecting the detection area and the radiation source about a tilting axis parallel to the first radiation space axis. In this case, the detection state of a plurality of sensor arrangements changes, preferably of all sensor arrangements, when the distance between the source and target vehicle changes. The at least two sensor arrangements are then preferably arranged at a distance from one another in the circumferential direction around the second radiation space axis. The extension of the radiation space along the second angular range is used to irradiate or illuminate as large an angular range as possible with the radiation from the radiation source, so that in this largest possible second angular range, a sensor arrangement can be arranged on the target vehicle at locations that are relatively far apart . The second angular range is therefore preferably greater than the first angular range.

With the greatest possible distance between at least two sensor arrangements, signals of the respective sensor arrangements can also be used, in addition to achieving detection redundancy, to avoid changes in detection states that are based on actual changes in distance without changes in the relative orientation of the vehicles of the work train to distinguish the detection status. The informative value of the distance signal from the distance monitoring device is increased as a result.

In principle, the electromagnetic radiation from the radiation source can be any radiation as long as it can only be limited to a relatively small first angular range with sufficient intensity. Such a first angular range is preferably not greater than 3 ° around the first radiation space axis. Electromagnetic radiation that is available almost everywhere and, at the same time, is highly precise because it can be locally limited, is emitted as laser light by a laser beam source. Therefore, a laser beam source is preferred as the above-mentioned radiation source. A laser beam source can be coherent for several tens of meters Emit light and can therefore only generate one point of light over several tens of meters. The target distance value range in the sense of a clear width between the work train vehicles generally does not, or only rarely, exceeds distance values of 20 meters.

The first angular range is preferably limited to the mere extension of the laser beam which the laser beam source emits as the preferred radiation source. In this case, the first angular range is significantly smaller than 3 °.

The second angular range can be generated in order to cover as large an area as possible on the target vehicle by targeted alignment of the laser beam emitted by the radiation source or the emitted electromagnetic radiation. For this purpose, the radiation source can emit a laser beam that oscillates or rotates about the second spatial axis of the radiation. For occupational health and safety reasons, a rotating laser beam can be shaded in circumferential areas around the second radiation space axis, where there will certainly be no target vehicle irradiation, in order to protect personnel working on the construction site in the vicinity of the work train from exposure to electromagnetic radiation, in particular the laser beam.

It is true that many vehicles are taller than they are wide, or in other words: they have a greater extent along their yaw axis than along their pitch axis. However, especially when working the soil, it is not desirable to arrange a sensitive sensor arrangement in the vicinity of the subsurface. The sensor arrangement is preferably arranged at a distance from the ground on the target vehicle. This also applies in the event that more than one sensor arrangement is provided on the target vehicle. An advantageous arrangement of a sensor arrangement, in particular of several sensor arrangements in the direction parallel to the yaw axis at a distance from the ground of the target vehicle with at the same time great freedom in the arrangement of the at least one sensor arrangement in the direction parallel to the pitch axis on the target vehicle can be made possible by the fact that the first beam space axis to the pitch axis of the source vehicle is parallel and / and that the second radiation space axis in a or is located parallel to a plane defined by the yaw axis and roll axis of the source vehicle.

The second beam space axis can be parallel to the yaw axis; then a laser beam emanating from a preferred rotating or oscillating laser beam source will describe a conical surface or a partial conical surface. Or the second beam space axis is inclined both to the yaw axis and to the roll axis, then the beam space can particularly preferably be a plane spanned by the laser beam or, in the case of an oscillating laser beam, a flat sector. The term "level" is not to be understood in a purely mathematical sense. The plane described here has an extent orthogonal to its flat surface, which corresponds to the thickness of the laser beam. A change in the detection state can advantageously be reliably detected when the sensor axis of at least one sensor arrangement in a Cartesian vehicle coordinate system of roll, pitch and yaw axes has a greater extension component parallel to the plane spanned by the yaw axis and roll axis of the target vehicle than orthogonal to it.

The sensor arrangement is preferably parallel to the plane defined by the yaw axis and roll axis of the target vehicle. Additionally or alternatively, the at least one sensor arrangement, preferably each sensor arrangement, can be arranged with its sensor axis oriented orthogonally to a straight line between the sensor arrangement and the radiation source. In this case, the sensor arrangement has great sensitivity in the event of a change in distance with a large sensing range at the same time.

To facilitate adjustment of the distance monitoring device, the radiation source and / or the at least one sensor arrangement is preferably arranged movably on the source vehicle or on the target vehicle relative to a vehicle body of the vehicle carrying it.

Sometimes it can be the case that the target distance and / or the target distance value range between the source and target vehicle change during a work operation should, for example because one of the two vehicles from the source and target vehicle is exchanged for a vehicle that has the same effect but has a different design. In such a case, it is advantageous if the respective vehicle driver or the only vehicle driver in the case of an automated distance control does not have to leave his control station to set up the distance monitoring device for the new operating situation. For this purpose, according to an advantageous development of the present invention, it can be provided that the source vehicle has a source actuator and / or the target vehicle has a sensor actuator, the source actuator being coupled to the radiation source in a movement-transmitting manner and / or the sensor actuator being coupled to the sensor arrangement in a movement-transmitting manner, so that the Radiation source and / or the at least one sensor arrangement on the vehicle carrying it is or are accommodated such that it can be actuated displaceably relative to the respective vehicle body about an adjustment axis parallel to the first radiation space axis. One or both of the aforementioned actuators can also be displaceable about a further adjustment axis.

In the present application, unless otherwise expressly stated, the work train is described in the reference state, i.e. H. the two vehicles of the work train are located one after the other in the working direction on a flat, horizontal surface. Their yaw axes are parallel, as are their pitch axes. The roll axes of the two vehicles, which extend parallel to the working direction, are parallel or collinear in the reference state.

Depending on the location of the radiation source on the one hand and the sensor arrangement on the other hand, a change in the operating state of the work train starting from the reference state, for example when the work train takes a curve, can lead to a change in the detection state of the distance monitoring device without the distance between the vehicles of the work train actually changing. In order to reduce the probability of an incorrect detection or incorrect assessment of the detection status of the distance monitoring device, it can be provided according to a development of the present invention that the distance monitoring device has a control device and that the first and / or the further vehicle has a yaw angle detection device which detects a yaw angle of the respective vehicle, wherein at least one yaw angle detection device transmits a yaw angle signal, which contains information about the yaw angle of at least one vehicle, to the control device, wherein the control device transmits the distance signal in accordance with the detection state of the at least one sensor arrangement and in accordance with the yaw angle signal which generates at least one yaw rate sensing device.

The yaw angle detection device can detect the information about the yaw angle of at least one vehicle in any way, for example by a GPS system or by appropriate sensors, such as those used in cell phones to determine their spatial orientation. In addition or as an alternative to a yaw angle sensor that directly detects the yaw angle, the yaw angle of a vehicle can be detected indirectly by detecting the steering angle and the distance covered by the vehicle and / or the vehicle speed over a common period of time.

Each vehicle of the work train preferably has a yaw angle detection device, so that a relative yaw angle of the two vehicles relative to one another can be detected directly and precisely by means of data communication between the two vehicles.

However, only one vehicle can have a yaw angle detection device. This is then preferably the vehicle driving ahead in the working direction. If the work train begins its work in the reference state or in a defined, known state with a known relative orientation of the vehicles of the work train to each other, at least one vehicle of the work train, preferably the vehicle ahead in the working direction, can be based on the speed of the vehicle ahead in the work direction and on the basis of distance information from the distance monitoring device under the reasonable assumption that the yaw angle of the following vehicle will change locally along the working route in the same way as the yaw angle of the preceding vehicle, a temporal and / or local offset between a yaw angle change of the preceding vehicle and the following vehicle determine. This temporal and / or local offset can be taken into account by the control device when evaluating the detection state for generating the distance signal.

The control device advantageously has an input device with which data can be input into the control device and thus into the distance monitoring device. The input device can include a keyboard, mouse, touchscreen, microphone and the like. With this input device, for example, a distance value assigned to the reference distance can be entered in a predefined or selectable unit of measurement so that the temporal and / or local offset of yaw angle changes between the two vehicles of the work train can be calculated using the speed information of one of the vehicles and the distance value.

The input device can also be used to input into the control device which change in distance between the vehicles corresponds to a predetermined change in position of the detection area of the electromagnetic radiation on the sensor arrangement. With a fixed orientation of the sensor arrangement and the radiation source, this information can also be stored in a data memory of the control device. For an orientation of the sensor arrangement and radiation source that can be determined from any positions of source and / or sensor actuators, this information can also be determined taking into account data stored in a data memory for different orientations.

What applies to the relative change in the vehicle orientation starting from the reference state around a yaw axis parallel change axis when cornering, can additionally or alternatively also apply to a change in the relative orientation of the two vehicles around a pitch axis parallel change axis when driving over a crest or when driving through a terrain hollow. For this reason, in order to increase the detection accuracy, according to an advantageous development of the present invention, it can be provided that the distance monitoring device has a control device and that the first and / or the further vehicle has a pitch angle detection device which has a pitch angle of the respective vehicle, wherein at least one pitch angle detection device transmits a pitch angle signal, which contains information about the pitch angle of at least one vehicle, to the control device, wherein the control device transmits the distance signal in accordance with the detection state of the at least one sensor arrangement and in accordance with the pitch angle signal of the at least generated a pitch angle detection device.

For the pitch angle detection device, what was said above about the yaw angle detection device applies mutatis mutandis accordingly, with the proviso that the yaw angle is intended to be replaced by the pitch angle and, accordingly, a yaw axis by a pitch axis.

Especially when the preferred embodiment specified above is implemented with a plurality of sensor arrangements on the target vehicle, the sensor arrangements on the target vehicle being arranged at a distance from one another in the circumferential direction around the yaw axis of the source vehicle, change when the relative yaw angle of the two vehicles of the work train changes the detection states of at least two sensor arrangements are in opposite directions when the two sensor arrangements are arranged on different sides of a vertical longitudinal plane through the radiation source that is parallel to the roll axis and the yaw axis of the target vehicle. In contrast, when the relative pitch angle changes, the detection states of such sensor arrangements change in the same direction. Although it has already been pointed out above that it may be sufficient in principle for the yaw angle signal and / or the pitch angle signal to contain only information about a yaw angle or a pitch angle of the vehicle carrying the respective detection device, it is advantageous to avoid detection errors as comprehensively and precisely as possible, if the yaw angle signal contains information about the relative yaw angle between the source and target vehicle and / or that the pitch angle signal contains information about the relative pitch angle between the source and target vehicle.

As an alternative or in addition to the arrangement of at least two sensor arrangements on different sides of said vertical longitudinal plane, one of one A change in the detection state caused by a change in the relative yaw angle can also be distinguished from a change in the detection state caused by a change in the relative pitch angle by at least two sensor arrangements located essentially at the same roll axis position, which are arranged on the same side of the vertical longitudinal plane, but at different distances from it. As the distance from the vertical longitudinal plane increases, a change in the relative yaw angle causes a change in the detection state that increases in amount. However, this does not apply to a change in the relative pitch angle.

The distance signal is advantageously used to keep the distance between the vehicles of the work train in the predetermined target distance value range during a work operation. In this target distance value range, normal operation is usually safely possible. For this purpose, it can be provided that the distance signal contains operating information about the operation of a drive motor and / or a vehicle brake of at least one of the vehicles.

The operating information can be information output to a driver of one of the vehicles to decelerate or accelerate his vehicle or to leave the vehicle speed unchanged. The operating information can, however, also directly be control information for a vehicle control system in order to automate one of the vehicles, d. H. without the intervention of a human operator, to decelerate or accelerate and / or to set a certain driving speed. The aim of such a control or regulation can be to keep the detection range of the sensor arrangement in a predetermined detection zone or, if necessary, to return it to this. The detection zone is determined by a distance interval corresponding to the predetermined target distance value range.

According to an advantageous development of the present invention, history information about the change in the detection states and / or about the detection states in their temporal course can be stored in a data storage device. The data storage device is preferred by a control device that of the distance monitoring device can be queried. In this way, operational information can even be output that is used to establish an operating state with a distance between the vehicles of the work train located in the target distance value range when the sensor arrangement no longer detects the radiation from the radiation source, i.e. if the sensor arrangement is too large in terms of magnitude Change in distance is outside of the radiation room. From the history information stored in the data storage device, it is then possible to determine in which direction the detection area has left the sensor arrangement even without a detection signal on the sensor arrangement. Depending on this direction, it can be determined whether one of the vehicles has to be accelerated or decelerated in order to change the currently existing distance from a distance in the target distance value range.

Since the vehicles of a work train do not work independently of one another and, for example, there may be operational limits that must be complied with for a successful work operation, it is advantageous if the vehicles of the work train are in data communication with one another through a data communication connection in at least one data transmission direction, preferably bidirectional.

For example, one of the two vehicles can use the data communication link to inform the other vehicle that it has reached a limit working speed and cannot accelerate or decelerate any further. This can be particularly helpful for an automated setting of the distance between the vehicles of a vehicle platoon. For the most defined guidance of the work train in the working direction, it is further advantageous if a vehicle consisting of the source vehicle and the target vehicle as the lead vehicle specifies a movement speed of the work train along the working direction and that the distance signal is output to the other vehicle from the source vehicle and the target vehicle as the following vehicle. As a rule, that vehicle is the lead vehicle or master vehicle whose change in operating parameters has a more critical effect on the work result than a change in operating parameters of the respective other vehicle, which is then consequently the follower vehicle.

In a further specification of the indication of reaching limit operating parameters, provision can then be made for the following vehicle to be designed to indicate to the lead vehicle during normal operation that an operating parameter has approached its parameter limit value beyond a predetermined warning threshold or / and has reached its parameter limit value Has.

In a preferred embodiment, the first vehicle is a soil cultivating machine that applies material to the ground, and the further vehicle is a delivery vehicle that transfers material intended for application to the first vehicle. The soil cultivation machine, usually a road paver, is the lead vehicle, since changes in the operating parameters of this vehicle have a direct impact on the quality of the soil generated, such as B. Flatness or freedom from elevations and depressions. Since changes to the operating parameters of the delivery vehicle have less critical effects on the work result of the work train, the delivery vehicle is then the follower vehicle. The delivery vehicle can be a feeder or it can be a transport truck or it can be a recycler who removes the ground immediately in front of a road paver as the lead vehicle, processes removed material and transfers it to the paver for rebuilding.

As a basic rule, it can be used that when considering the overall work result desired by the work train, the soil cultivation machine that directly constructively brings about the work result is preferably the lead vehicle and even if the other vehicle of the work train is also a soil cultivation machine, this soil cultivation machine is the following vehicle when it contributes not directly, but only indirectly, to the work result of the work train.

The above-mentioned control device of the distance monitoring device is preferably arranged on the following vehicle, so that the distance signal from the distance monitoring device is present directly on the vehicle, on its control the distance signal should influence. The lead vehicle can then work with the best possible operating parameters for the given work order and the follower vehicle is based on the lead vehicle.

In a preferred case, the distance signal on the following vehicle is used directly to control the speed of the following vehicle in order to maintain a predetermined target distance between the vehicles within the predetermined target distance value range as precisely as possible.

Since the distance signal is determined on the basis of the detection state of the sensor arrangement, the sensor arrangement is preferably also arranged on the following vehicle, while the radiation source is preferably arranged on the lead vehicle. In this case, data communication between the leading vehicle and the following vehicle can be minimized. Only when the following vehicle, such as a recycler, has reached its maximum speed, is it advantageous if the following vehicle indicates this to the lead vehicle so that it does not increase its speed any further, although this would be possible according to the basic conditions of the respective construction site.

Thus, the source vehicle is preferably the leading vehicle and the target vehicle is preferably the following vehicle.

It should be expressly made clear that the following vehicle does not necessarily follow the lead vehicle. Especially in the preferred example of a road paver as the soil cultivation machine of the first vehicle, the following vehicle will generally lead the lead vehicle in the working direction.

Fig. 1

eine grobschematische Seitenansicht eines Arbeitszugs der vorliegenden Erfindung mit den beiden Fahrzeugen des Arbeitszugs in Bezugsabstand,

Fig. 2

die grobschematische Seitenansicht des Arbeitszugs von Fig. 1 mit vergrößertem Abstand zwischen den beiden Fahrzeugen des Arbeitszugs,

Fig. 3

die grobschematische Seitenansicht des Arbeitszugs von Fig. 1 mit verkürztem Abstand zwischen den Fahrzeugen des Arbeitszugs,

Fig. 4

die grobschematische Seitenansicht von Fig. 1 mit kuppenartig gekrümmtem Untergrund,

Fig. 5

eine grobschematische Draufsicht des Arbeitszugs im Bezugszustand der Fig. 1 und

Fig. 6

den Arbeitszug von Fig. 5 nach Einfahrt in eine Rechtskurve.

The present invention is explained in more detail below with reference to the accompanying drawings. It shows:

Fig. 1

a highly schematic side view of a work train of the present invention with the two vehicles of the work train at a reference distance,

Fig. 2

the roughly schematic side view of the work train from Fig. 1 with increased distance between the two vehicles of the work train,

Fig. 3

the roughly schematic side view of the work train from Fig. 1 with a shorter distance between the vehicles of the work train,

Fig. 4

the roughly schematic side view of Fig. 1 with dome-like curved subsoil,

Fig. 5

a roughly schematic plan view of the work train in the reference state of FIG Fig. 1 and

Fig. 6

the work train from Fig. 5 after entering a right-hand bend.

In the Figures 1 to 6 an embodiment according to the invention of a work train of the present application is generally designated by 10. The work train 10 comprises a first vehicle 12 and a further vehicle 14. The first vehicle 12 is, for example, a road paver, the further vehicle 14 is a recycler. Both vehicles 12 and 14 are therefore tillage machines.

The work train 10 moves in a work direction A, which is parallel to the drawing planes of the Figs. 1 to 4 is oriented. Since the vehicles 12 and 14 are ground-based vehicles, the working direction A is also oriented parallel to the ground U on which the vehicles 12 and 14 stand.

The other vehicle 14, for example the recycler, removes material from the ground with a work device 16 comprising a milling drum and prepares the removed underground material by adding binding agents so that recycled underground material 17 is transported via a conveyor belt 18 from the further vehicle 14 into the bunker 20 of the first vehicle 12 is promoted.

The material present in the bunker 20 is built into a solid base by the paver 12.

The recycler 14, which runs ahead of the paver 12 in working direction A, works destructively on the ground as described. The subsurface U is prepared by the recycler 14 for the pavement to be built up by the paver 12. The paver 12 works constructively and immediately creates the work result desired by the work train 10.

Since the subsurface in the application example has locally different surface planes, the subsurface U in working direction A between the two vehicles 12 and 14 is to be used as the reference subsurface, which forms a uniform reference surface or reference plane for both vehicles 12 and 14.

Vehicles 12 and 14 are in the in Fig. 1 Reference state shown in the working direction A at a distance D from each other.

Since the paver 12 directly influences the work result of the work train 10, while changes in the operating parameters of the recycler 14 only indirectly influence the work result of the work train 10, the paver 12, i.e. the first vehicle 12, is the lead vehicle in the present example, which determines the speed of the work train 10 essentially pretends. The recycler 14 is accordingly the following vehicle, the speed of which in the working direction A is based on the specifications of the leading vehicle 12 within predetermined limits.

An operator's platform 22 of the paver 12 is manned by an operator. An operator's platform 24 of the recycler 14 can be manned by an operator, and this is usually also the case for reasons of occupational safety. As will be explained in more detail below, however, at least the feed speed of the recycler 14 in the working direction A can be controlled automatically as a function of the feed speed of the paver 12 and a vehicle distance interval to be observed between the vehicles 12 and 14.

The vehicle distance D should lie within predetermined limits in a predetermined target distance value range, so that, for example, recycled underground material 17 thrown off the conveyor belt 18 safely only reaches the bunker 20 of the paver 12 reached. The conveying device for conveying recycled underground material 17 from the recycler 14 to the paver 12 can differ from that in the Figures 1 to 6 only roughly schematically shown conveyor belt promotion by another means of funding.

To monitor the vehicle distance D, the work train 10 has a distance monitoring device 26.

This comprises a laser beam source 28 and two sensor arrangements 30 arranged at a distance from one another along the pitch axis N2 of the recycler 14 Figs. 1 to 4 only the sensor arrangement 30 which is closer to the viewer is shown in each case. The further sensor arrangement 30 located behind it is covered by what is shown.

The laser beam source 28 emits a laser beam 32, which in the in Fig. 1 The reference state shown here reaches the sensor arrangement 30 only in a central detection area 34.

The sensor arrangement 30 extends along a sensor axis 36 and has a plurality of sensor elements sensitive to the light of the laser beam 32, one after the other, along this sensor axis 36. Exemplary in Fig. 1 only the sensor element 38 located in the detection area 34 is shown.

The laser beam source 28 is either a rotating laser, which can be shaded in radiation areas that are not required for occupational safety reasons, or is a source of an oscillating laser beam 32 which only covers a predetermined angular range (see second angular range 46 in Fig. 5 ) illuminates.

Starting from the laser beam source 28, only one beam space 40 is filled with the laser beam 32, which around a first, to the plane of the drawing Figs. 1 to 4 The orthogonal spatial beam axis 42 extends over a very small first angular range 43 which essentially only corresponds to the thickness of the laser beam 32. The laser beam 32 sweeps over a second beam space axis 44, compared with the first angular range 43 around the first ray space axis 42, a very large second angular range 46 (see Fig. 5 and 6th ). The second angular range 46 is so large that the two sensor arrangements 30 of the recycler 14 can be reliably reached by the laser beam 32 in the entire target distance value range of the vehicle distance D. Here, too, the illustration of the second angular range 46 is in FIG Fig. 5 and 6th only roughly schematically.

The first radiation space axis 42 is parallel to the pitch axis N1 of the paver 12. The second radiation space axis 44 is parallel to a plane spanned by the yaw axis G1 and the roll axis R1 of the paver 12.

As in Fig. 1 is shown, the beam space 40 is inclined about the first beam space axis 42 with respect to the working direction A. The sensor axis 36 is also inclined with respect to a tilt axis 48 which is preferably parallel to the first radiation space axis 42. The sensor axis 36 runs parallel to a plane spanned by the yaw axis G2 and the roll axis R2 of the recycler 14. The inclination of the sensor arrangement 30 about the inclination axis 48 is preferably such that the sensor axis 36 in the in Fig. 1 The reference state shown is oriented orthogonally to the laser beam 32 impinging on the sensor arrangement 30. Since the laser beam 32 is emitted orthogonally to the second spatial radiation axis 44 in the preferred exemplary embodiment shown, the sensor axis 36 and the second spatial radiation axis 44 are thus preferably parallel to one another in the exemplary embodiment. This arrangement results in a high sensitivity of the sensor arrangement 30 to a change in the vehicle distance D with a large sensing range at the same time.

In Fig. 5 is a straight connecting line 33 between the laser light source 28 and the detection area 34 of FIG Fig. 1 shown sensor arrangement 30 is shown. The illustration of the connecting straight line 33 is in the side views of FIG Figs. 1 to 3 identical to the representation of the first angular range 43 or to the representation of the laser beam 32.

In the reference state, the sensor axis 36 preferably runs parallel to a straight line of intersection of a plane orthogonal to the connecting straight line 33 on the one hand and parallel to a plane containing the roll axis R2 and the yaw axis G2 of the further vehicle 14 on the other hand. The sensor axis then runs orthogonally to the connecting straight line 33 and is nevertheless inclined only about the tilt axis 48 parallel to the pitch axis N2 of the further vehicle 14.

To make it easier to set up the distance monitoring device 26, the laser beam source 28 on the machine body 12a of the paver 12 can be adjusted about an adjustment axis 50 on the paver side by a preferably electromotive actuator 52. In the present example, the setting axis 50 on the paver side is parallel to the first radiation space axis 42 and is also parallel to the pitch axis N1 of the first vehicle 12 (paver).

Likewise, in order to set up the sensor arrangement 30, its orientation relative to the vehicle body 14a of the further vehicle 14 can be changed about an adjustment axis 54 on the recycler side by means of a preferably electromotive actuator 56. The recycler-side adjustment axis 54 is parallel to the pitch axis N2 of the recycler 14 and is also parallel to the tilt axis 48 of the sensor arrangement 30.

To clarify the orientation of the first vehicle 12 and the further vehicle 14 in the reference state, a Cartesian tripod is shown above the respective vehicle with the vehicle's own coordinate axes: roll axis R, pitch axis N and yaw axis G. The axes of the first vehicle 12 also have the number 1 The corresponding coordinate axes of the second vehicle 14 also have the number 2. The yaw axes G1 and G2 of the first and second vehicles 12 and 14 are parallel to one another, as are the pitch axes N1 and N2 and the roll axes R1 and R2.

The distance monitoring device 26 has a control device 58, which is arranged, for example, on the recycler 14, which is not only the following vehicle, but also the target vehicle because of the arrangement of the sensor arrangement 30 thereon.

Depending on where the laser beam 32 strikes the sensor arrangement 30, the control device 58 can send a distance signal with information about the vehicle distance Output D. In a simple case, the distance signal can be displayed via a data line on a display device 60 in the operator's platform 24 of the recycler 14 as operating information. For example, the display device 60 can be used to indicate to a machine operator in the control station 24 that he should accelerate the recycler 14 in the working direction A if the vehicle distance D is too small, decelerate it if the vehicle distance D is too great or leave the vehicle speed unchanged if the vehicle distance D fits.

Alternatively, the control device 58 can also output the distance signal to traction motors 62 and 64 of the recycler 14 and accelerate or decelerate them depending on the detection state of the sensor arrangement 30 or continue to operate them at the existing drive speed. The output of the distance signal to the traction motors 62 and 64 is equivalent to an output to a motor control device or central control device which is designed and provided separately from the control device 58 and controls the traction motors 62 and 64. The control device 58 can also be the central control device of the recycler 14.

The simplest type of distance monitoring by the distance monitoring device 26 functions in this way. It is particularly advantageous that this type of distance monitoring of the vehicle distance D functions without any data communication between the first vehicle 12 and the second vehicle 14. Thus, a distance control or regulation can only be implemented in the following vehicle: here recycler 14, without any need for any feedback to the lead vehicle, here: paver 12.

It is sufficient to manipulate the speed of the recycler 14 in the working direction A in such a way that the detection area 34 on the sensor arrangement 30 lies in a predetermined sensor-axial detection zone.

However, such communication should not be ruled out.

Although the work train 10 with the distance monitoring device 26 functions in the manner described above, its functionality can nonetheless be expanded. The following and target vehicle 14 can thus have a transmitting / receiving unit 66, which can also be controlled via the control device 58. The transceiver unit 66 is used to exchange data with a transceiver unit 68 on the source and guide vehicle 12.

A control device 70 can also be provided on the paver 12, by means of which the transmitter / receiver unit 68 on the paver side can be controlled. In addition, the control device 70 of the paver 12 can have a data output unit 72 with which data can be output, in particular displayed, to an operator in the control stand 22.

With the transmitting / receiving units 66 and 68, the two vehicles 12 and 14 can exchange data between them. The data communication can be unidirectional, but is preferably bidirectional. If it is unidirectional, the communication preferably takes place from the following vehicle 14 to the leading vehicle 12.

To further increase the accuracy of the distance monitoring, the recycler 14 can have a yaw angle sensor 74 and a pitch angle sensor 76. Both sensors are connected to the control device 58 of the paver 14 for data transmission.

Likewise, the paver 12, as the lead vehicle, can have a yaw angle sensor 78 and a pitch angle sensor 80, which are also each connected to their control device 70 in terms of data transmission.

In Fig. 2 is the work train 10 of Fig. 1 shown with enlarged vehicle distance D '. It can be seen that the detection area 34 ′ on the sensor arrangement 30, in which the laser beam 32 of the source vehicle 12 is detected, has shifted from the originally central detection area 34 to the upper longitudinal end with respect to the sensor axis 36. The laser light thus no longer radiates into the central sensor element 38, but only into an upper end sensor element 38 ′.

Without any communication between the two vehicles 12 and 14, the control unit 58 can only use the relative displacement of the detection area 34 to 34 'to recognize that the vehicle distance D is different based on the reference distance of Fig. 1 has changed. In addition, it can be stored in a data memory of the control device 58 that a displacement of the detection area 34 from a sensor-axially central detection area 34 to an upper end detection area 34 'means an increase in the vehicle distance. Accordingly, the control device 58 can indicate on the display device 60 in the operator's platform 24 of the recycler 14 that the speed of the following vehicle 14 should be reduced and / or can directly control the traction motors 62 and 64 in the sense of slowing the travel speed of the recycler 14 in working direction A.

In Fig. 3 is the work train 10 of Fig. 1 with shortened vehicle distance D ". The detection area 34" with which the laser beam 32 is received at the sensor arrangement 30 is now located at the lower sensor-axial end of the sensor arrangement 30. A lower end sensor element 38 "now receives the laser light, while the other sensor elements of the sensor arrangement 30 cannot be reached by the laser light from the laser beam source 28 and lie in a dark area.

According to the above explanation for Fig. 2 The control device 58 recognizes from the position of the detection area 34 ″ that the distance D ″ between the vehicles 12 and 14 has decreased or has even reached a lower limit value. Correspondingly, the control device 58 can output a signal to the display device 60 in the control stand 24 which prompts a vehicle driver in the control stand 24 to accelerate the recycler 14 in the working direction A and / or the control device 58 can control the traction motors 62 and 64 of the recycler 14 in the sense of a Control speed increase.

When the recycler 14 has already reached its maximum travel speed in the working direction A, which is also the feed speed of the working device 16, further acceleration of the recycler 14 is no longer technically possible. In this case, the control device 58 transmits a corresponding signal via the transmitting / receiving unit 66 to the transmitting / receiving unit 68 of the paver 12, where the local control device 70 indicates to the machine operator in the operator's platform 22 on the data output unit 72 that the paver 12 is not producing any faster may or should even reduce its working speed in working direction A. Since the recycler 14 is the following vehicle and its speed in the working direction A is based on the speed of the paver 12 in the working direction A, when the recycler 14 has reached its maximum speed in the working direction A and the distance D between the vehicles 12 and 14 further shortened, this distance can only be increased again by control interventions on the paver 12.

In Fig. 4 is the work train 12 of Fig. 1 shown when driving over a dome. The background U is around one to the plane of the drawing Fig. 4 orthogonal axis of curvature curved.

The representation of Fig. 4 shows that the change in the detection state of the sensor arrangement 36 corresponds to an increase in the vehicle distance D, although the vehicle distance D has actually not changed.

One in the middle of the top of Fig. 4 The superimposed arrangement of the two vehicle-specific coordinate systems shown here shows that the pitch axes N1 and N2 of the vehicles 12 and 14 are still parallel to one another, but the yaw axes and the roll axes are arranged rotated relative to one another about an axis of rotation parallel to the pitch axis or the axis of curvature by the angle γ .

With the pitch angle sensor 76, the control device 58 on the recycler 14 can detect that the pitch angle of the recycler 14 has changed in an absolute coordinate system. On the basis of the travel speed of the recycler 14 in the working direction A known to the control device 58, the control device 58 can thus determine when the paver 12 will also understand the same change in orientation about its pitch axis N1. The control device 58 can thus recognize on the basis of a pitch angle signal from the pitch angle sensor 76 that the change of the detection state on the sensor arrangement 30 is not due to a change in the vehicle distance D, but to a change in the relative orientation of the two vehicles 12 and 14 about a change axis parallel to the pitch axis, the control device 58 being able to calculate in advance by measuring the time and by measuring the speed of the recycler 14 the coordinate systems of the two vehicles 12 and 14 again have three spatial axes parallel to one another. Thus, the control device 58 of the recycler 14 alone can assess, without data exchange with the paver 12, whether a displacement of the detection area 34 along the sensor axis 36 is due to a change in distance or to a terrain formation. This is based on the fact that both vehicles 12 and 14 travel the same route one after the other with a time offset.

However, the pitch angle sensor 80 on the paver 12 can also be used, and its pitch angle signal can be transmitted via the transmitter / receiver unit 68 to the transmitter / receiver unit 66 of the recycler 14. From the pitch angle information of both vehicles 12 and 14, the control device 58 can calculate a relative pitch angle of the two vehicles 12 and 14 to one another and thus directly determine whether the two coordinate systems are rotated relative to one another about their pitch axes N1 and N2 or not. An evaluation of the detection result of the sensor arrangement 30 can thus be carried out with even greater accuracy.

In Fig. 5 is the work train 10 of Fig. 1 shown from above in plan view. The second sensor arrangement 30 can be seen here, which however completely corresponds to the sensor arrangement 30 explained so far. Identical and functionally identical components and component sections as in the already explained sensor arrangement 30, that is in FIG Fig. 5 the lower sensor assembly 30 are shown in FIGS Fig. 5 and 6th also assigned to the second, upper sensor arrangement. The explanations given for the sensor arrangement 30 apply to both sensor arrangements 30.

A dashed sector line indicates the detection areas 34 on both sensor arrangements 30 when driving straight ahead.

Since a milling drum in the recycler 14 is usually not arranged symmetrically in the direction of the pitch axis on the recycler, the two vehicles 12 and 14 can have an offset in the direction of the pitch axis in the direction of their roll axes R1 and R2, which are parallel in the reference state.

the Fig. 5 shows that when driving straight ahead, the detection areas 34 on both sensor devices 30 are approximately in the same sensor-axial area.

In Fig. 6 the beginning of a cornering of the work train along a right-hand bend is shown as an example. The recycler 14 has already turned into the right-hand bend, the paver 12 not yet. Accordingly, with the vehicle distance between the vehicles 12 and 14 unchanged, the detection areas of the two sensor arrangements 30 have shifted along the respective sensor axes 36. Because of the inclination of the beam space 40 about the first beam space axis 42 parallel to the pitch axis N1 of the paver 12, the displacement takes place in opposite directions at different yaw angles of the vehicles 12 and 14. In the example shown, the detection area 34 is the one shown in FIG Fig. 6 upper sensor arrangement 30 based on the state of Fig. 5 migrated towards the upper longitudinal end of the sensor arrangement 30, that is to say in the direction of the detection area 34 'of Fig. 2 . Likewise, the detection area 34 of the in Fig. 6 lower sensor arrangement 30 based on the state of Fig. 5 migrated to the lower longitudinal end of this sensor arrangement 30, that is in the direction of the detection area 34 "of Fig. 3 down.

Such a detection state can basically have two causes: On the one hand, the in Fig. 6 The cornering shown and, on the other hand, a terrain formation in which the two vehicles 12 and 14 are rotated relative to one another about an axis parallel to their two initially parallel roll axes R1, R2.

By means of the yaw angle sensor 74 in the recycler 14, however, on the basis of the yaw angle signal supplied by the latter, the control device 58 can determine that the is opposite to that of Fig. 5 The changed detection state is based on a change in the yaw angle of the recycler 14 and not on a change in distance or on a rotation around the roll axis. Instead of or in addition to a yaw angle sensor 74 or 78, a roll angle sensor can be provided on one or both vehicles 12 and 14. However, since cornering is a much more frequent operating situation than driving around a lane that is twisted in the working direction, the arrangement of a yaw angle sensor is preferred.

Instead of yaw angle and roll angle sensors, information of the same value can alternatively or additionally be obtained by recording machine data over a common period of time and evaluating the same, for example by recording steering angles, driving speed and time and / and driving distance, and the position of individuals Lifting columns, by means of which the distance of the respective vehicle body relative to the chassis connected to the lifting column and thus to the contact surface of the floor area on which the respective chassis rests can be determined.

If only one sensor arrangement 30 were arranged on the recycler 14, the control device 58 would only be able to detect a change in the detection state at the beginning of a cornering, which change cannot be distinguished from a change in distance without additional information. However, due to the second sensor arrangement at a distance along the pitch axis N2 from the first on different sides of a plane parallel to the roll axis and the yaw axis of the recycler 14, which in the reference state of the work train 10 passes through the laser beam source 28, the above-described contradiction in the change in the detection state can occur Cornering provoked and thus cornering can be recognized by the sensor arrangements 30. The cornering can be recognized even more precisely by additional information from the yaw angle sensor 74.

As above in connection with driving over the crest of the terrain (see Fig. 4 ), yaw angle information from the paver side yaw angle sensor 78 can also be transmitted from the paver 12 to the recycler 14 and converted there by the control device 58 together with the yaw angle information from the yaw angle sensor 74 into relative yaw angle information for the two vehicles 12 and 14 relative to one another. This provides the most accurate way of to assess the detection state of the at least one sensor arrangement 30 with regard to a change in the vehicle distance D.

Claims (14)

1. A working combination (10) encompassing a self-propelled earth working machine (12) constituting a first vehicle (12) and at least one further self-propelled vehicle (14), the vehicles (12, 14) of the working combination (10) being embodied to move, during working operation as intended, one behind another in a common working direction (A) with a setpoint spacing that is within a predetermined setpoint spacing value range; the working combination (10) having a spacing monitoring device (26) that, on the basis of a detection state of the spacing monitoring device (26) which depends on an actual true spacing (D, D', D") of the vehicles (12, 14), outputs a spacing signal that contains information regarding the vehicle spacing (D, D', D"); the spacing monitoring device (26) comprising a beam source (28) emitting electromagnetic radiation (32) and a sensor arrangement (30) sensitive to the electromagnetic radiation (32) of the beam source (28); one vehicle (12) from among the first and the further vehicle (12, 14), constituting a source vehicle (12), carrying the beam source (28); when the working combination (10) is in a predetermined reference state, i.e. on a flat horizontal substrate (U) with vehicles (12, 14) arranged in readiness for working operation with a predetermined reference spacing (D) from one another, the beam source (28) radiating, toward the respective other vehicle (14) from among the first and the further vehicle (12, 14) constituting a target vehicle (14), an electromagnetic radiation (32) directed in such a way that the electromagnetic radiation (32) for spacing monitoring is present only in a beam space (40) that extends over a first angular region (43) around a first beam space axis (42) and over a second angular region (46) around a second beam space axis (44) that encloses an angle with the first beam space axis (42); the second angular region (46) being of equal magnitude to, or of greater magnitude than, the first angular region (43); and the beam space (40) being inclined around the first beam space axis (42) with reference to the working direction (A),
   characterized in that the sensor arrangement (30) extends along a sensor axis (36) and is arranged on the target vehicle (14) to be carried by it; when considering the working combination (10) in the reference state, a predetermined sensor-axial reference detection region (34) on the sensor arrangement (30) being irradiated by the beam source (28); and the sensor axis (36) being arranged with an inclination around an inclination axis (48) parallel to the first beam space axis (42), relative to a connecting line (33) between the detection region (34) and the beam source (28), so that a change in the vehicle spacing (D, D', D") results in a change, along the sensor axis (36), in the position of the detection region (34) on the sensor arrangement (30) which is irradiated by the beam source (28), and thus in a change in the detection state of the sensor arrangement (30).
2. The working combination (10) according to Claim 1,
   characterized in that the target vehicle (14) comprises at least two sensor arrangements (30) that extend along a sensor axis (36), which sensor axes (36), when considering the working combination (10) in the reference state, are each arranged with an inclination, relative to a connecting line (33) between the detection region (34) and the beam source (28), around an inclination axis (48) parallel to the first beam space axis (42); the at least two sensor arrangements (30) being arranged with a spacing from one another in a circumferential direction around the second beam space axis (44).
3. The working combination (10) according to Claim 1 or 2,
   characterized in that the beam source (28) is a laser beam source (28) that emits laser light as the electromagnetic radiation (32).
4. The working combination (10) according to Claim 3,
   characterized in that the beam source (28) emits a laser beam (32) that oscillates or rotates around the second beam space axis (44).
5. The working combination (10) according to one of the preceding claims,
   characterized in that the first beam space axis (42) is parallel to the pitch axis (N1) of the source vehicle (12); and/or the second beam space axis (44) is located in, or parallel to, a plane spanned by the yaw axis (G1) and the roll axis (R1) of the source vehicle (12).
6. The working combination (10) according to Claim 5,
   characterized in that the sensor axis (36) of at least one sensor arrangement (30) has, in a Cartesian vehicle coordinate system made up of a roll axis, a pitch axis, and a yaw axis, a greater extent component parallel to the plane spanned by the yaw axis (G2) and the roll axis (R2) of the target vehicle (14) than orthogonally thereto.
7. The working combination (10) according to one of the preceding claims,
   characterized in that the source vehicle (12) and/or the target vehicle (14) comprises an actuator (52, 56) that is coupled motion-transferringly respectively to the beam source (28) and to the sensor arrangement (30), so that the beam source (28) and/or the at least one sensor arrangement (30) is or are received, on the respective vehicle (12, 14) carrying them, displaceably in actuator-based fashion relative to the respective vehicle body (12a, 14a), around an adjustment axis (50, 54) parallel to the first beam space axis (42).
8. The working combination (10) according to one of the preceding claims,
   characterized in that the spacing monitoring device (26) comprises a control device (58. 70); and

   - the first and/or the further vehicle (12, 14) comprises a yaw angle detection apparatus (74, 78) that detects a yaw angle of the respective vehicle (12, 14), at least one yaw angle detection apparatus (74, 78) transferring to the control device (58, 70) a yaw angle signal that contains information regarding the yaw angle of at least one vehicle (12, 14); the control device (58, 70) generating the spacing signal in accordance with the detection state of the at least one sensor arrangement (30) and in accordance with the yaw angle signal of the at least one yaw angle detection apparatus (74, 78),
   and/or

   - the first and/or the further vehicle (12, 14) comprises a pitch angle detection apparatus (76, 80) that detects a pitch angle of the respective vehicle (12, 14), at least one pitch angle detection apparatus (76, 80) transferring to the control device (58, 70) a pitch angle signal that contains information regarding the pitch angle of at least one vehicle (12, 14); the control device (58, 70) generating the spacing signal in accordance with the detection state of the at least one sensor arrangement (30) and in accordance with the pitch angle signal of the at least one pitch angle detection apparatus (76, 80).
9. The working combination (10) according to Claim 8,
   characterized in that the yaw angle signal contains information regarding the relative yaw angle between the source and the target vehicle (12, 14); and/or the pitch angle signal contains information regarding the relative pitch angle between the source and the target vehicle (12, 14).
10. The working combination (10) according to one of the preceding claims,
    characterized in that the spacing signal contains operating information for operating a drive motor (62, 64) and/or a vehicle brake of at least one of the vehicles (12, 14).
11. The working combination (10) according to one of the preceding claims,
    characterized in that the vehicles (12, 14) of the working combination (10) are in data communication with one another in at least one data transfer direction by way of a data communication connection.
12. The working combination (10) according to one of the preceding claims,
    characterized in that one vehicle (12, 14) from among the source vehicle (12) and target vehicle (14), constituting a leader vehicle (12), defines a movement speed in the working direction (A); and the spacing signal is outputted to the respective other vehicle (14) from among the source vehicle (12) and target vehicle (14), constituting a follower vehicle (14).
13. The working combination (10) according to Claim 12,
    characterized in that the follower vehicle (14) is embodied to indicate to the leader vehicle (12), during working operation as intended, that an operating parameter has exceeded a predetermined warning threshold and approached its limit parameter value, and/or has reached its limit parameter value.
14. The working combination (10) according to Claim 12 or 13,
    characterized in that the first vehicle (12) is an earth working machine (12) that applies a material onto the substrate (U), and the further vehicle (14) is a supply vehicle (14) that transfers material intended for application to the earth working machine (12), the earth working machine (12) being the leader vehicle (12) and the supply vehicle (14) being the follower vehicle (14).

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